version: 66.02
glider: 117
mission: 4
dive: 243
start: 10 2 107 3 41 16
data:
$ID,117
$MISSION,4
$DIVE,243
$D_SURF,5
$D_FLARE,2
$D_TGT,120
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22336.018
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,243
$ROLL_MAX,3920
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-7.1405377
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,3
$SMARTDEVICE1,5
$SMARTDEVICE2,19
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439469
$SEABIRD_T_H,0.00064900791
$SEABIRD_T_I,2.5454905e-05
$SEABIRD_T_J,2.5957725e-06
$SEABIRD_C_G,-9.918622
$SEABIRD_C_H,1.1128846
$SEABIRD_C_I,-0.0018190074
$SEABIRD_C_J,0.00019276176
$GPS1,033132,4739.507,-12252.768,11,1.2,16,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-55.4
$GPS2,034009,4739.567,-12252.659,16,1.8,16,18.3
$SPEED_LIMITS,0.154,0.208
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,-0.073
$KALMAN_X,32870.7,-18.8,-32.3,-32777.6,18.2
$KALMAN_Y,17478.0,14.1,-50.5,-17853.9,57.2
$MHEAD_RNG_PITCHd_Wd,231.2,702,-20.3,-8.889
$D_GRID,123
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.68,-97.8,0.0,0.0,0,110,0.00,0.00,-78.45,0.000,2,0.000,0.000,412,2202,2806
$GC,113,-1.68,-97.8,2.3,-4.5,13,163,13.25,2.62,-29.48,0.000,4,0.196,0.074,2523,798,3602
$GC,176,-1.68,-97.8,5.1,-7.8,23,181,0.00,2.45,0.00,0.000,6,0.000,0.036,2523,2200,3603
$GC,247,-1.68,-97.8,12.6,-11.1,34,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3604
$GC,325,-1.68,-97.8,21.7,-11.4,45,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2200,3604
$GC,514,-1.68,-97.8,42.2,-10.1,60,519,0.00,2.53,0.00,0.000,4,0.000,0.059,2523,3597,3604
$GC,566,-1.68,-97.8,47.6,-10.3,63,573,0.00,2.45,0.00,0.000,6,0.000,0.035,2524,2197,3604
$GC,762,-1.68,-97.8,67.6,-10.4,79,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,3604
$GC,951,-1.68,-97.8,87.4,-10.5,94,956,0.00,2.60,0.00,0.000,4,0.000,0.066,2523,801,3604
$GC,976,-1.68,-97.8,90.0,-10.4,95,983,0.00,2.47,0.00,0.000,6,0.000,0.037,2523,2197,3604
$GC,1173,-1.68,-97.8,110.9,-10.1,111,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2197,3604
$STATE,1273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1279,-0.38,0.0,120.6,10.0,119,1361,1.45,0.00,77.70,0.693,6,0.105,0.000,2809,2068,3202
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1366,1.68,97.8,123.7,0.0,126,1451,2.12,2.60,76.32,0.673,4,0.062,0.054,3271,3478,2802
$GC,1525,1.69,102.2,116.1,8.6,138,1534,0.00,2.42,3.20,0.764,6,0.000,0.036,3271,2088,2785
$GC,1734,1.73,132.3,100.1,7.1,155,1762,0.00,2.70,23.08,0.683,4,0.000,0.067,3271,677,2662
$GC,1831,1.73,132.3,91.5,9.4,162,1837,0.00,2.47,0.00,0.000,6,0.000,0.035,3271,2084,2661
$GC,2026,1.73,132.3,72.3,9.8,178,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2084,2660
$GC,2215,1.73,132.3,54.2,9.9,193,2219,0.00,2.53,0.00,0.000,4,0.000,0.058,3271,3478,2660
$GC,2279,1.73,132.3,47.5,9.9,197,2286,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2083,2660
$GC,2476,1.74,140.7,31.2,8.4,213,2489,0.00,2.55,6.05,0.718,4,0.000,0.054,3271,3475,2627
$GC,2547,1.74,140.7,24.9,9.0,218,2554,0.00,2.45,0.00,0.000,6,0.000,0.035,3271,2088,2627
$GC,2750,1.77,166.6,9.5,7.3,244,2773,0.00,0.00,19.88,0.654,6,0.000,0.000,3271,2088,2522
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,0.7,1.010269
$STATE,2878,end surface coast,CONTROL_FINISHED_OK
$STATE,2878,begin surface
$SM_CCo,2910,158.55,0.586,0,0,1163,500.17
$SM_GC,0.99,0.00,0.00,158.55,0.000,0.000,0.586,407,2214,1163,-11.47,0.40,500.17
$IRIDIUM_FIX,4722.92,-12253.53,021007,060644
$TT8_MAMPS,0.090506
$HUMID,2138
$INTERNAL_PRESSURE,7.92999
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,96.1,999.0
$24V_AH,23.7,37.769
$10V_AH,10.0,23.323
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.975,35.650,206.225,158.550,0.000,64.925,40.123,183.413,0.500,0.000,3689.000,16.181,457.198,1722.696,480.874,490.412,445.585,33.358,777.757,0.000,460.212,0.000,2.491
$DEVICE_MAMPS,196.352,74.399,763.932,585.988,0.000,103.000,160.000,223.000,420.000,1000.000,6.400,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,187.241,0.000,0.000,0.000,0.000,0.000,3249.370,3689.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,18.358,51.000
$DATA_FILE_SIZE,6428,264
$CFSIZE,260231168,250241024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021007,043337,4739.511,-12252.994,37,1.5,37,18.3